Аннотации:
Maintaining a specific geometric formation during the movement is crucial for multiagent systems of mobile robots in various
applications. Proper coordination can lead
to reduced system costs, increased reliability
and efficiency, and system adaptability and
flexibility.
This research proposes a novel movement
coordination method for self-governing multiagent systems of intelligent mobile robots.
The proposed method uses a leader-follower
technique with a virtual leader to maintain a
specific geometric structure. Additionally, the
epsilon greedy algorithm is utilized to avoid
loops. To reduce power consumption, it is proposed to turn on only a few robots' lidars at
a time. They could drive all the robots in the
group, allowing them to reach the goal without
colliding with obstacles.
Experiments on a complex map with nine
robots were conducted to test the method's
effectiveness. The success rate of the swarm
reaching the target position and the number of
steps needed were evaluated. Testing varied
angular velocities of 1 to 20 degrees and linear velocities of 0.1 to 5.5 m/s. Results show
the method effectively guides the robots without collisions.
This method enables a group of self-governing multiagent systems of intelligent mobile
robots to maintain a desired formation while
avoiding obstacles and reducing power consumption. The results of the experimental
study demonstrate the method's potential to be
implemented in real-world missions and traffic management systems to increase efficiency
and reduce costs.
The proposed method can be utilized in
military missions and traffic management systems, where maintaining a specific geometric formation is crucial. The method's ability to avoid obstacles and reduce power
consumption can also lead to reduced costs
and increased efficiency
